US10953920B2 - Parking assist apparatus, parking assist method, and computer program - Google Patents

Parking assist apparatus, parking assist method, and computer program Download PDF

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US10953920B2
US10953920B2 US16/722,791 US201916722791A US10953920B2 US 10953920 B2 US10953920 B2 US 10953920B2 US 201916722791 A US201916722791 A US 201916722791A US 10953920 B2 US10953920 B2 US 10953920B2
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Prior art keywords
vehicle
parking
parking assist
parallel
processor
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US16/722,791
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US20200207416A1 (en
Inventor
Tomohiro Tsunekazu
Noriyuki Tani
Yuya Matsumoto
Shota Akaura
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Panasonic Automotive Systems Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Assigned to PANASONIC AUTOMOTIVE SYSTEMS CO., LTD. reassignment PANASONIC AUTOMOTIVE SYSTEMS CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication

Definitions

  • the present invention relates to a parking assist apparatus, a parking assist method, and a computer program.
  • Patent Literature 1 discloses a pulling-out assist apparatus that prevents a parallel-parked vehicle from hitting an obstacle when the parallel-parked vehicle is pulled out.
  • a parking assist apparatus includes: a one-way traffic determiner that determines whether or not a vehicle is located on a one-way road; and a parking processor that, when it is determined that the vehicle is located on the one-way road, does not perform a vehicle control for parallel parking including a path through which the vehicle reverses.
  • FIG. 1 is a block diagram of an exemplary configuration of an in-vehicle system according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart illustrating an example of parallel parking processing according to the present embodiment
  • FIG. 3 illustrates a display example of a parking-space selection User Interface (UI) according to the present embodiment in a case where a vehicle is not located on a one-way road;
  • UI parking-space selection User Interface
  • FIG. 4 illustrates a display example of the parking-space selection UI according to the present embodiment in a case where the vehicle is located on the one-way road;
  • FIG. 5A illustrates Example 1 of an aspect of a displayed disabled parallel-parking start button according to the present embodiment
  • FIG. 5B illustrates Example 2 of the aspect of the displayed disabled parallel-parking start button according to the present embodiment.
  • FIG. 1 is a block diagram of an exemplary configuration of an in-vehicle system according to an embodiment of the present disclosure.
  • in-vehicle system 2 mounted in vehicle 1 includes map information processor 3 , sensor apparatus 4 , camera apparatus 5 , display apparatus 6 , vehicle-control Electronic Control Unit (ECU) 7 , speaker 8 , and parking-assist ECU 10 , for example.
  • ECU vehicle-control Electronic Control Unit
  • Map information processor 3 identifies road information on the current position of vehicle 1 on the basis of a method for computing the current position of vehicle 1 (e.g., Global Positioning System (GPS)), and on the basis of map information held and/or downloaded.
  • the road information includes information on road traffic laws and regulations. Examples of the information on the road traffic laws and regulations include one-way traffic, parking prohibition, or right-turn prohibition.
  • Sensor apparatus 4 is installed, for example, in the front, rear, left, and right of vehicle 1 , transmits an electromagnetic wave (e.g., millimeter wave), and detects an object (person, another vehicle, obstacle, or the like) neighboring vehicle 1 on the basis of the reflected electromagnetic wave.
  • an electromagnetic wave e.g., millimeter wave
  • Camera apparatus 5 is installed, for example, in the front, rear, left, and right of vehicle 1 , and detects the object neighboring vehicle 1 on the basis of a captured image.
  • sensor apparatus 4 and camera apparatus 5 are one example of an apparatus for detecting the object neighboring vehicle 1
  • vehicle 1 may detect the object also with an apparatus different from these apparatuses.
  • Display apparatus 6 is one example of a displaying apparatus, and displays information in the faun of an image and/or a character for a driver or a passenger. Display apparatus 6 may also have a function to receive an input from the driver or the passenger. That is, display apparatus 6 may serve also as an input apparatus.
  • Vehicle-control ECU 7 is an apparatus for controlling movements of vehicle 1 .
  • Vehicle-control ECU 7 may control steering, an accelerator, a brake, and the like of vehicle 1 to move vehicle 1 autonomously.
  • Vehicle-control ECU 7 may assist the driver in performing a driving control of vehicle 1 .
  • Speaker 8 notifies the driver or the passenger of voice information.
  • Parking-assist ECU 10 is an apparatus that assists in parking of vehicle 1 .
  • Parking-assist ECU 10 includes communication I/F 11 , memory 12 , and processor 13 , for example.
  • Communication I/F 11 , memory 12 , and processor 13 are connected to internal bus 14 capable of bidirectional communication.
  • Communication I/F 11 transmits or receives data to or from each of map information processor 3 , sensor apparatus 4 , camera apparatus 5 , display apparatus 6 , vehicle-control ECU 7 , and speaker 8 through an in-vehicle network.
  • the in-vehicle network may be composed of either a wired network or a wireless network, or, of a combination thereof. Also, the in-vehicle network may at least partly be composed of a Controller Area Network (CAN).
  • CAN Controller Area Network
  • Memory 12 holds a computer program to be executed by processor 13 , data, and the like.
  • Memory 12 is composed of a volatile memory or a nonvolatile memory, or a combination thereof.
  • Processor 13 implements various functions of parking-assist ECU 10 by reading the computer program from memory 12 and executing the computer program.
  • Processor 13 may be expressed as a Central Processing Unit (CPU), Large Scale Integration (LSI), or controller.
  • processor 13 implements functions related to one-way traffic determiner 101 , parking processor 102 , UI processor 103 , and notification processor 104 by executing the computer program read out from memory 12 .
  • One-way traffic determiner 101 determines whether or not vehicle 1 is located on a one-way road. For example, one-way traffic determiner 101 obtains the road information on the current position of vehicle 1 from map information processor 3 , and determines whether or not the current position of vehicle 1 is located on the one-way road on the basis of the obtained road information. Alternatively, one-way traffic determiner 101 obtains the captured image from camera apparatus 5 , and determines whether or not the current position of vehicle 1 is located on the one-way road on the basis of a road sign included in the obtained captured image.
  • parking processor 102 judges not to perform a vehicle control for parallel parking including a path through which vehicle 1 reverses. For example, when one-way traffic determiner 101 determines that the current position of vehicle 1 is not located on the one-way road, parking processor 102 judges to perform the vehicle control for parallel parking including reversing. On the other hand, when one-way traffic determiner 101 determines that the current position of vehicle 1 is located on the one-way road, parking processor 102 judges not to perform the vehicle control for parallel parking including reversing. In this case, parking processor 102 may also judge to perform the vehicle control for parallel parking not including reversing. Performing the parallel parking including reversing of vehicle 1 on the one-way road can thus be prevented.
  • parking processor 102 may search for a space available for parallel parking.
  • parking processor 102 may search for a space available for parallel parking performed by the vehicle control not including reversing.
  • Parking processor 102 may also search for the aforementioned space available for parallel parking, by analyzing the reflected wave of sensor apparatus 4 , the captured image of camera apparatus 5 , and/or the like while moving vehicle 1 forward at a low speed. Parking processor 102 may then perform the vehicle control in cooperation with vehicle-control ECU 7 while recognizing the object neighboring vehicle 1 in cooperation with sensor apparatus 4 and camera apparatus 5 , so as to autonomously parallel park vehicle 1 in the space detected by the aforementioned search.
  • parking processor 102 may determine the space to be a space available for parallel parking performed by the vehicle control including traveling forward and reversing. Note also that, when there is a travel path leading to the detected space and not including turning the steering wheel of vehicle 1 in opposite directions (e.g., including only traveling forward), parking processor 102 may determine the space to be a space available for parallel parking performed by the vehicle control not including reversing.
  • UI processor 103 generates parking-space selection UI 300 (see FIGS. 3 and 4 ) for the driver to select the space for parallel parking, and displays it on display apparatus 6 .
  • UI processor 103 may cause, not to be displayed or selectable on parking-space selection UI 300 , the space available for parallel parking performed by the vehicle control including reversing, when one-way traffic determiner 101 determines that vehicle 1 is located on the one-way road.
  • UI processor 103 may also display on parking-space selection UI 300 that the road on which vehicle 1 is located is for one-way traffic, when one-way traffic determiner 101 determines that vehicle 1 is located on the one-way road. It is thus possible for the driver to understand that the parallel parking including reversing is not performed since the road on which vehicle 1 is located is for one-way traffic.
  • Parking-space selection UI 300 will be described in detail below (see FIGS. 3 and 4 ).
  • notification processor 104 When one-way traffic determiner 101 determines that vehicle 1 is located on the one-way road, notification processor 104 provides voice notification through speaker 8 that vehicle 1 does not perform the vehicle control for parallel parking including the path through which vehicle 1 reverses.
  • one-way traffic determiner 101 determines whether or not vehicle 1 is located on the one-way road (S 102 ).
  • parking processor 102 When it is determined at S 102 that vehicle 1 is not located on the one-way road (S 102 : NO), parking processor 102 starts to search for the space available for parallel parking (S 103 ). For example, parking processor 102 searches for the space available for parallel parking by traveling forward and reversing in combination (that is, by turning the steering wheel in opposite directions).
  • parking processor 102 starts to search for the space available for parallel parking performed by the vehicle control not including reversing (S 104 ). For example, parking processor 102 searches for the space available for parallel parking only by traveling forward (that is, without turning the steering wheel in opposite directions).
  • UI processor 103 displays parking-space selection UI 300 on display apparatus 6 (S 105 ). Parking-space selection UI 300 will be described in detail below (see FIGS. 3 and 4 ).
  • parking processor 102 controls vehicle 1 such that vehicle 1 is parallel parked in the space for parking selected at S 106 (S 107 ).
  • Parallel parking not including reversing is performed on the one-way road according to the processing described above, so that it is possible to achieve appropriate assistance for parallel parking depending on the road environment.
  • FIG. 3 illustrates the example of parking-space selection UI 300 in the case where spaces available for parallel parking performed by the vehicle control including at least one of traveling forward and reversing are detected in the search at S 103 shown in FIG. 2 .
  • parking processor 102 When parking processor 102 detects at least one space available for parallel parking performed by the vehicle control including at least one of traveling forward and reversing, UI processor 103 displays, over the detected space, parking-allowance mark 301 indicating that parking is allowed there. This parking-allowance mark 301 may be selected by the driver.
  • parking processor 102 may control vehicle 1 such that vehicle 1 is parallel parked in the space of the selected parking-allowance mark 301 .
  • This vehicle control may include any of traveling forward and reversing.
  • UI processor 103 may display travel path 302 for parallel parking and other parked vehicles 303 on parking-space selection UI 300 as illustrated in FIG. 3 .
  • FIG. 4 illustrates the example of parking-space selection UI 300 in the case where the space available for parallel parking performed by the vehicle control not including reversing is detected in the search at S 104 shown in FIG. 2 .
  • UI processor 103 displays parking-allowance mark 301 over the detected space. This parking-allowance mark 301 may be selected by the driver.
  • parking processor 102 may control vehicle 1 such that vehicle 1 is parallel parked in the space of the selected parking-allowance mark 301 . This vehicle control does not include reversing.
  • UI processor 103 may display parking-prohibition mark 305 as illustrated in FIG. 4 (this parking-prohibition mark 305 indicates that parking is prohibited there) over the space available for parallel parking performed by the vehicle control including reversing but unavailable in the case of the vehicle control not including reversing.
  • UI processor 103 may also display one-way traffic mark 306 indicating that the road for the current position is for one-way traffic. Displaying these marks 305 and 306 makes it possible for the driver to understand that parallel parking including reversing cannot be performed since the road for the current position is for one-way traffic.
  • parking-assist ECU 10 is not limited to such parking-assist ECU 10 as described above.
  • parking-assist ECU 10 may also operate as follows.
  • UI processor 103 may display the parallel-parking start button of S 101 with an aspect indicating that the parallel-parking start button is disabled. For example, for the aspect indicating that the parallel-parking start button is disabled, UI processor 103 may display grayed-out parallel-parking start button 401 in operation screen 400 provided for receiving the start operation of the vehicle control for parallel parking as illustrated in FIG. 5A .
  • UI processor 103 may also display selection prohibition icon 402 over parallel-parking start button 401 in operation screen 400 as illustrated in FIG. 5B .
  • This configuration does not allow the vehicle control for parallel parking when vehicle 1 is located on the one-way road, thereby making it possible to prevent the vehicle control including reversing on the one-way road.
  • the voice notification from speaker 8 and/or the aspect of the displayed parallel-parking start button allow the driver to recognize that the vehicle control for parallel parking is not performed.
  • parking processor 102 may also search for a space ahead of vehicle 1 available for parallel parking only by traveling forward, and may compute the travel path of vehicle 1 to the space when the space is detected.
  • parking processor 102 may also search for a space available for parallel parking obliquely ahead of vehicle 1 in searching for the space available for parallel parking. This configuration allows reduction in number of spaces for which the travel path is to be computed, thus allowing reduction in arithmetic amount of parking-assist ECU 10 in the case of the one-way road.
  • parking processor 102 may also display, on display apparatus 6 , guidance information for guiding to a parking lot near vehicle 1 when no space available for parallel parking is successfully detected in the processing of S 103 or S 104 illustrated in FIG. 2 .
  • parking processor 102 may preferentially display, on display apparatus 6 , the guidance information for guiding to a parking lot available for parking (e.g., a parking lot with an empty space) among nearby parking lots.
  • parking-assist ECU 10 includes: one-way traffic determiner 101 that determines whether or not vehicle 1 is located on the one-way road; and parking processor 102 that, when one-way traffic determiner 101 determines that vehicle 1 is located on the one-way road, does not perform the vehicle control for parallel parking including a path through which vehicle 1 reverses.
  • the vehicle control for parallel parking including the path through which vehicle 1 reverses is not performed when vehicle 1 is located on the one-way road, so that it is possible to assist in parallel parking appropriately depending on the road environment.
  • a parking assist apparatus includes: a one-way traffic determiner that determines whether or not a vehicle is located on a one-way road; and a parking processor that, when it is determined that the vehicle is located on the one-way road, does not perform a vehicle control for parallel parking including a path through which the vehicle reverses. It is thus possible to assist in parallel parking appropriately depending on the road environment since the vehicle control of autonomous parking including the path through which the vehicle reverses is not performed when the vehicle is located on the one-way road.
  • the parking processor may search for a space available for parallel parking not including the path through which the vehicle reverses. It is thus possible for the driver to utilize assistance for parallel parking not including reversing of the vehicle on the one-way road.
  • the parking assist apparatus further includes a display processor that displays, on a displaying apparatus, a selection screen allowing a driver to select a space for which the parking assist apparatus is capable of assisting in the parallel parking, in which the parking processor searches for the space for which the parking assist apparatus is capable of assisting in the parallel parking, and, when it is determined that the vehicle is located on the one-way road, the display processor causes at least one of a plurality of the spaces not to be displayed or selectable, the plurality of spaces being those for which the parking assist apparatus is capable of assisting in the parallel parking, the at least one space being one for which the parking assist apparatus is capable of assisting in the parallel parking performed by the vehicle control including the path through which the vehicle reverses. It is thus possible to prevent the driver from selecting a parking space including the path through which the vehicle reverses on the one-way road.
  • the display processor may display, on the displaying apparatus, that the road on which the vehicle is located is for one-way traffic. It is thus possible for the driver to recognize easily that the vehicle is located on the one-way road.
  • the parking assist apparatus may further include a notification processor that notifies that the vehicle control for parallel parking is not performed, when it is determined that the vehicle is located on the one-way road. It is thus possible for the driver to recognize from the voice that the vehicle control for parallel parking is not performed since the vehicle is located on the one-way road.
  • the display processor may display a button that receives a start of the vehicle control for parallel parking, the button being displayed with an aspect indicating that the button is disabled. It is thus possible to prohibit the start of the vehicle control for parallel parking on the one-way road.
  • the display processor may gray out the button, or display an icon indicating prohibition over the button for the aspect indicating that the button is disabled. It is thus possible to prohibit the start of the vehicle control for parallel parking. It is also possible for the driver to recognize that the start of the vehicle control for parallel parking is prohibited.
  • the parking processor may display, on a displaying apparatus, guidance information for guiding to a parking lot available for parking. It is thus possible for the driver to easily move the vehicle to the parking lot available for parking.
  • a parking assist method includes steps performed by a parking assist apparatus of: determining whether or not a vehicle is located on a one-way road; and not performing a vehicle control for parallel parking including a path through which the vehicle reverses, when it is determined that the vehicle is located on the one-way road. It is thus possible to assist in parallel parking appropriately depending on the road environment since the vehicle control of autonomous parking including the path through which the vehicle reverses is not performed when the vehicle is located on the one-way road.
  • a computer program for parking assist causes a computer to execute processing of: determining whether or not a vehicle is located on a one-way road; and not performing a vehicle control for parallel parking including a path through which the vehicle reverses, when it is determined that the vehicle is located on the one-way road. It is thus possible to assist in parallel parking appropriately depending on the road environment since the vehicle control of autonomous parking including the path through which the vehicle reverses is not performed when the vehicle is located on the one-way road.
  • the present disclosure can be realized by software, hardware, or software in cooperation with hardware.
  • Each functional block used in the description of each embodiment described above can be partly or entirely realized by an LSI such as an integrated circuit, and each process described in the each embodiment may be controlled partly or entirely by the same LSI or a combination of LSIs.
  • the LSI may be individually formed as chips, or one chip may be formed so as to include a part or all of the functional blocks.
  • the LSI may include a data input and output coupled thereto.
  • the LSI here may be referred to as an IC, a system LSI, a super LSI, or an ultra LSI depending on a difference in the degree of integration.
  • the technique of implementing an integrated circuit is not limited to the LSI and may be realized by using a dedicated circuit, a general-purpose processor, or a special-purpose processor.
  • a FPGA Field Programmable Gate Array
  • a reconfigurable processor in which the connections and the settings of circuit cells disposed inside the LSI can be reconfigured may be used.
  • the present disclosure can be realized as digital processing or analogue processing.
  • the present disclosure can be realized by any kind of apparatus, device or system.
  • Some non-limiting examples of such an apparatus include a phone (e.g., cellular (cell) phone, smart phone), a tablet, a personal computer (PC) (e.g., laptop, desktop, notebook), a camera (e.g., digital still/video camera), a digital player (digital audio/video player), a wearable device e.g., wearable camera, smart watch, tracking device), a game console, and various combinations thereof.
  • One aspect of the present disclosure is useful for driving assistance of a vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
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JP2018242432A JP7122589B2 (ja) 2018-12-26 2018-12-26 駐車支援装置、駐車支援方法、及び、コンピュータプログラム
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US10583779B2 (en) * 2017-10-02 2020-03-10 Magna Electronics Inc. Parking assist system using backup camera
JP6658943B1 (ja) * 2019-04-10 2020-03-04 トヨタ自動車株式会社 車両の制御装置
JP2021180382A (ja) * 2020-05-12 2021-11-18 フォルシアクラリオン・エレクトロニクス株式会社 画像処理装置及び画像処理方法

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